Object position estimation system, object position estimation method, and program

Abstract

To provide an object position estimation system or the like capable of shortening a time for detecting a position of an object.SOLUTION: An object position estimation system according to one aspect of the present disclosure includes a selection unit configured to select a diffractive optical element that branches a light beam into a plurality of beams, the diffractive optical element branching the light beam into the plurality of beams according to an error of a position of an object in information on a trajectory of the object, an irradiation unit configured to irradiate the plurality of beams such that a center of a range of the plurality of beams obtained by branching the light beam from a light source by the diffractive optical element faces the position of the object, and a position estimation unit configured to estimate the position of the object from information on reflected light from the object.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present disclosure relates to an object position estimation system, an object position estimation method, and a program. [Background technology]

[0002] An example of a technology for observing an object flying in space is disclosed in Patent Document 1.

[0003] Patent Document 1 describes a space object observation system that obtains preliminary observation information by irradiating a space object with laser light and receiving and observing the reflected laser light generated by the space object.The space object observation system of Patent Document 1 estimates the area where the space object is estimated to be located at a certain observation time based on the preliminary observation information, and based on that area, sets the spread angle of the irradiated laser light to be irradiated on the space object at that observation time.The space object observation system of Patent Document 1 observes the space object using the irradiated laser light spread at the set spread angle. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent Publication No. 2017-88072 Summary of the Invention [Problem to be solved by the invention]

[0005] In the technology of Patent Document 1, a space object is observed by irradiating it with laser light that has been expanded at a set divergence angle. With the technology of Patent Document 1, the energy density of the laser light irradiated onto the space object is reduced, which increases the time required to detect the space object.

[0006] An object of the present disclosure is to provide an object position estimation system, an object position estimation method, and a program that can reduce the time required to detect the position of an object. [Means for solving the problem]

[0007] An object position estimation system according to one aspect of the present disclosure includes a diffractive optical element that splits a beam of light into multiple beams, and includes a selection means that selects the diffractive optical element that splits the beam into the multiple beams according to an error in the position of the object in information about the trajectory of the object, an irradiation means that irradiates the multiple beams so that the center of the range of the multiple beams split by the diffractive optical element from the beam of light from a light source faces the position of the object, and a position estimation means that estimates the position of the object from information about the light reflected by the object.

[0008] An object position estimation method according to one aspect of the present disclosure includes selecting a diffractive optical element that splits a beam of light into multiple beams according to an error in the position of the object in information about the trajectory of the object, irradiating the multiple beams so that the center of a range of the multiple beams split by the diffractive optical element from the light beam from a light source faces the position of the object, and estimating the position of the object from information about the light reflected by the object.

[0009] A program according to one aspect of the present disclosure causes a computer to execute the following steps: a selection process for selecting a diffractive optical element that splits a beam of light into multiple beams according to an error in the position of an object in information about the object's trajectory; an irradiation process for irradiating the multiple beams so that the center of a range of the multiple beams split by the diffractive optical element from the light source faces the position of the object; and a position estimation process for estimating the position of the object from information about the light reflected by the object.

[0010] One aspect of the present disclosure is also realized by a storage medium that stores the above-described program. [Effects of the Invention]

[0011] The present disclosure has the effect of reducing the time required to detect the position of an object. [Brief explanation of the drawings]

[0012] [Figure 1] FIG. 1 is a block diagram illustrating an example of the configuration of an object position estimation system according to the present disclosure. [Figure 2] FIG. 2 is a flowchart illustrating an example of the operation of the object position estimation system according to the present disclosure. [Figure 3] FIG. 3 is a diagram illustrating an example of the configuration of an object position estimation system according to the present disclosure. [Figure 4] FIG. 4 is a flowchart illustrating an example of the operation of the object position estimation system according to the present disclosure. [Figure 5] FIG. 5 is a flowchart illustrating an example of the operation of the object position estimation system according to the present disclosure. [Figure 6] FIG. 6 is a flowchart illustrating an example of an operation of the object position estimation system according to the present disclosure to calculate the magnitude of an error in the position of an object. [Figure 7] FIG. 7 is a diagram illustrating an example of a hardware configuration of a computer that can realize an object position estimation system according to the present disclosure. DETAILED DESCRIPTION OF THE INVENTION

[0013] Next, an embodiment of the present disclosure will be described in detail with reference to the drawings. In the drawings according to the present disclosure, data is exchanged between components connected by lines. However, the components between which data is exchanged are not limited to the components connected by lines.

[0014] First Embodiment Next, a first embodiment of the present disclosure will be described in detail with reference to the drawings.

[0015] <Configuration> FIG. 1 is a block diagram illustrating an example of the configuration of an object position estimation system according to the present disclosure.

[0016] The configuration of the object position estimation system according to the first embodiment of the present disclosure will be described in detail below with reference to FIG.

[0017] In the example shown in FIG. 1, the object position estimation system 10 includes a selection unit 11, an irradiation unit 12, and a position estimation unit 13.

[0018] The selector 11 is a diffractive optical element that splits a light beam into a plurality of beams, and selects a diffractive optical element that splits into a plurality of beams according to an error in the position of an object in information about the object's trajectory.

[0019] The irradiation unit 12 irradiates a light beam from a light source with a plurality of beams so that the center of the range of the plurality of beams split by the diffractive optical element faces the position of the object.

[0020] The position estimation unit 13 estimates the position of the object from information about the light reflected by the object.

[0021] <Details> The object position in the object trajectory information described above is, for example, the predicted object position (also referred to as the predicted object position) at the time when multiple beams branched from the light beam included in the object trajectory information are irradiated. The object trajectory information includes, for example, predicted object positions at various times and information on the object position error at the predicted object positions. The object position error information includes, for example, information indicating the range of the object position error.

[0022] The object is an object flying in space. The object is, for example, an object such as debris that exists in outer space. The object is not limited to debris. The object may be any other object moving in space whose trajectory is predicted. Information about the trajectory along which the object will move is obtained in advance.

[0023] The error in an object's position is, for example, the difference between the object's position obtained by a past measurement and the object's position at the time the measurement was made, as indicated by the object's trajectory information. The range of the object's position error is expressed, for example, by a statistical value (e.g., variance or a constant multiple of the variance) of the magnitude of the difference between the object's position obtained by a past measurement and the object's position at the time the measurement was made, as indicated by the object's trajectory information. If the object is an object orbiting the Earth, such as debris in outer space, the statistical value of the error for each position on the orbit indicated by the object's trajectory information can be obtained from the results of multiple past measurements.

[0024] In this embodiment, the range of the error in the position of an object in three-dimensional space is, for example, a range in which the distance from the object's position is within the magnitude of the error in the object's position. The magnitude of the error in the position of an object moving in three-dimensional space is not necessarily uniform in all directions. Therefore, in this case, the range of the error in the position of an object in three-dimensional space is, for example, a range in which the distance from the object's position is within the distance indicated by the statistical value of the error according to the direction from the object's position.

[0025] In this embodiment, the range of error in the position of an object in three-dimensional space may be represented, for example, by the surface and interior of a convex hull of points in each of a plurality of directions from the position of the object, for example, points whose distance from the position of the object is the distance indicated by a statistical value of the error according to the direction from the position of the object.

[0026] For example, in the case of a position error of an object moving in an orbit around the Earth, the magnitude of the error in the direction of the object's movement is generally larger than the magnitude of the error in the direction perpendicular to the direction of the object's movement. The magnitude of the error may be expressed, for example, by the variance of the magnitude of the error in the direction of the object's movement and the variance of the magnitude of the error in the direction perpendicular to the direction of the object's movement. In this case, the range of the position error in three-dimensional space may be represented, for example, by a spheroid whose axis of rotation is the direction of the object's movement. In this case, the range of the position error in three-dimensional space is the surface and interior of such a spheroid. The center of this spheroid is the object's position indicated by the object's trajectory information. The axis of rotation of this spheroid is a straight line that passes through the object's position indicated by the object's trajectory information and is the direction in which the object is moving indicated by the object's trajectory information. The radius of this spheroid in the direction of the rotation axis is a constant multiple of the variance of the magnitude of the error in the direction of the object's movement. The radius of an axis perpendicular to the axis of rotation of this spheroid is a constant multiple of the variance of the magnitude of the error in the direction of the object's movement. The constants in these cases are the same value.

[0027] The magnitude of the error may be represented, for example, by the variance of the magnitude of the error in the direction in which the object moves, the variance of the magnitude of the error in a direction perpendicular to the direction in which the object moves and parallel to a plane containing the object's trajectory, and the variance of the magnitude of the error in a direction perpendicular to the direction in which the object moves and perpendicular to the plane containing the object's trajectory. In this case, the range of the position error in three-dimensional space may be represented, for example, by an ellipsoid whose three axes are the direction in which the object moves, the direction perpendicular to the direction in which the object moves and parallel to a plane containing the object's trajectory, and the direction perpendicular to the direction in which the object moves and perpendicular to the plane containing the object's trajectory. In this case, the range of the position error in three-dimensional space is the surface and the interior of such an ellipsoid. The center of this ellipsoid is the position of the object indicated by the object's trajectory information. One of the three axes of this ellipsoid is a straight line that passes through the object's position indicated by the object's trajectory information and is in the direction in which the object is moving indicated by the object's trajectory information. One of the three axes of this ellipsoid is a line that passes through the object's position indicated by the object's trajectory information, is perpendicular to the direction the object is moving as indicated by the object's trajectory information, and is parallel to the plane containing the object's trajectory. One of the three axes of this ellipsoid is a line that passes through the object's position indicated by the object's trajectory information, is perpendicular to the direction the object is moving as indicated by the object's trajectory information, and is perpendicular to the plane containing the object's trajectory. The radius of this ellipsoid in the direction of an axis is a constant multiple of the variance of the magnitude of the error in the object's position in the direction of that axis. This constant is the same value for each of the three axes.

[0028] A diffractive optical element is an element that splits a light beam into multiple beams by diffraction. The range of illumination of each of the multiple beams split by a diffractive optical element generally increases with distance from the diffractive optical element. In this embodiment, for example, when multiple beams are irradiated onto a plane not parallel to the direction of the multiple beams, the convex hull of a region within the plane where the light intensity within the plane is equal to or greater than a predetermined intensity is defined as the range of illumination of the multiple beams on that plane. This predetermined intensity may be the weakest light intensity that can be used for object detection. Furthermore, in this embodiment, when such a plane is moved from the position of the diffractive optical element (e.g., the position where the beam before splitting strikes the diffractive optical element) to a distance determined as the distance to the farthest object to be measured, the interior of the region defined by the convex hull within the moved plane may be defined as the range of illumination of the multiple beams in three-dimensional space. In other words, the range of illumination of the multiple beams in three-dimensional space is the range within which an object can be detected by the multiple beams. The range of illumination of the multiple beams in three-dimensional space may be provided in advance to the selection unit 11. In the following, a straight line passing through the center (e.g., center of gravity) of the irradiation range of multiple beams in multiple planes that are not parallel to the direction in which the multiple beams travel will be referred to as a straight line indicating the center of the multiple beams of the diffractive optical element.

[0029] The selection unit 11 selects, for example, the diffractive optical element with the smallest irradiation range from among the diffractive optical elements in which the irradiation range of the plurality of beams generated by branching includes the range of error of the object.

[0030] For example, the selection unit 11 may calculate a figure (hereinafter referred to as an irradiation figure) representing the irradiation range of the multiple beams in the object plane when the diffractive optical element is arranged so that a straight line indicating the center of the multiple beams of the diffractive optical element passes through the position of the object indicated by the information on the object's trajectory. The irradiation figure may be calculated in advance. This object plane is a plane that passes through the position of the object indicated by the information on the object's trajectory and is perpendicular to the direction of the multiple beams. The selection unit 11 may further calculate a figure (hereinafter referred to as an error figure) obtained by projecting a position error range in three-dimensional space onto the object plane. The error figure may be calculated in advance. The selection unit 11 may select, among the irradiation figures including the error figure, the diffractive optical element having the largest ratio of the area of ​​the error figure to the area of ​​the irradiation figure as the diffractive optical element having the smallest irradiation range among the diffractive optical elements in which the irradiation range of the multiple beams generated by branching includes the error range of the object.

[0031] The method by which the selection unit 11 selects the diffractive optical element with the smallest irradiation range among the diffractive optical elements in which the irradiation range of the multiple beams generated by branching includes the error range of the object is not limited to the above example.

[0032] For example, an irradiation pattern representing the above-mentioned irradiation range of the multiple beams in a predetermined plane not parallel to the directions of the multiple beams may be obtained in advance. In this case, the irradiation pattern representing the irradiation range of the multiple beams is a pattern defined as a pattern representing the range in which an object can be detected by the multiple beams that pass through this irradiation pattern, within the range up to the distance of the farthest object to be detected. The predetermined plane not parallel to the directions of the multiple beams (the target plane in this case) is a plane perpendicular to the directions of the multiple beams (e.g., the direction of the line indicating the center of the multiple beams) at a predetermined distance from the position of the diffractive optical element. Information about the irradiation patterns of the multiple diffractive optical elements may be calculated in advance. Then, information about the irradiation patterns of the multiple diffractive optical elements may be provided to the selection unit 11.

[0033] In this case, the selection unit 11 may calculate a figure (i.e., an error figure) representing the range of the position error in three-dimensional space when perspectively projected onto the object plane. This error figure may be calculated in advance. For example, if an error figure is included in the projection figure in the object plane, the selection unit 11 may determine that the projection range of the multiple beams generated by branching includes the error range of the object. For example, the selection unit 11 may calculate the ratio of the area of ​​the error figure to the area of ​​the projection figure in the object plane. The selection unit 11 may select the diffractive optical element with the largest ratio as the diffractive optical element with the smallest projection range among the diffractive optical elements whose projection range of the multiple beams generated by branching includes the error range of the object. The above-mentioned predetermined plane may be, for example, a plane perpendicular to the direction of the multiple beams and at a unit distance from the position of the diffractive optical element. The predetermined plane may also be another plane that is not parallel to the direction of the multiple beams.

[0034] The irradiation unit 12 irradiates a plurality of beams of light from a light source so that the center of the range of the plurality of beams split by the selected diffractive optical element faces the position of the object.

[0035] The position estimation unit 13 estimates the position of the object from information about the light reflected by the object. The position estimation unit 13 may estimate the position of the object using one of various existing methods for estimating the position of the object from information about the light reflected by the object.

[0036] <Operation> Next, the operation according to the first embodiment of the present disclosure will be described in detail with reference to the drawings.

[0037] FIG. 2 is a flowchart illustrating an example of the operation of the object position estimation system according to the present disclosure.

[0038] The operation of the object position estimation system according to the first embodiment of the present disclosure will be described in detail below with reference to FIG.

[0039] 2, the selection unit 11 selects a diffractive optical element that splits a beam into multiple beams according to the error in the object's position in the object's trajectory information (step S11). Next, the irradiation unit 12 irradiates the beam of light from the light source with multiple beams split by the diffractive optical element so that the center of the range of the multiple beams faces the object's position (step S12). Then, the position estimation unit 13 estimates the object's position from the information on the light reflected by the object (step S13).

[0040] <Effects> The present embodiment described above has the advantage of being able to reduce the time required to detect the position of an object.

[0041] This is because the selection unit 11 is a diffractive optical element that splits a light beam into multiple beams and selects a diffractive optical element that splits into multiple beams according to the error in the object's position in the object's trajectory information.The irradiation unit 12 then irradiates the light beam from the light source with multiple beams so that the center of the range of the multiple beams split by the diffractive optical element faces the object's position.Furthermore, the position estimation unit 13 estimates the object's position from information about the light reflected by the object.

[0042] The light intensity of each of the multiple beams generated by branching is stronger than the light intensity that would reach an object if the beam were expanded to a range corresponding to the error in the object's position in the object's trajectory information (e.g., the range in which the object's position could exist). Therefore, the reflected light from an object illuminated with one of the multiple beams is stronger than the reflected light from an object illuminated with a beam expanded to a range corresponding to the error in the object's position. Generally, when the reflected light is weak, the time from when the reflected light begins to reach the sensor until the reflected light is detected by the sensor is longer compared to when the reflected light is strong. Therefore, according to this embodiment, the time required to detect the object's position can be shortened.

[0043] In addition, when an object of a size to be detected falls within the range of irradiation of multiple beams branched by a diffractive optical element, a diffractive optical element may be prepared in advance as a selection target for the selection unit 11, such that at least one of the multiple beams is irradiated onto the object.

[0044] <Second embodiment> Next, a second embodiment of the present disclosure will be described in detail with reference to the drawings.

[0045] <Configuration> FIG. 3 is a diagram illustrating an example of the configuration of an object position estimation system according to the present disclosure.

[0046] The configuration of the object position estimation system according to the second embodiment of the present disclosure will be described in detail below with reference to FIG.

[0047] 3, the object position estimation system 1 includes an object position estimation device 100 and a measurement device 200. Note that in the example shown in FIG. 3, the object position estimation device 100 is a device separate from the measurement device 200, but is communicatively connected to the measurement device 200. The object position estimation device 100 may be implemented as the same device as the measurement device 200. In other words, the object position estimation device 100 may include the measurement device 200. The object position estimation device 100 may be included in the measurement device 200.

[0048] <Object position estimation device 100> The object position estimation device 100 includes a selection unit 110, a time measurement unit 120, a sensor direction identification unit 130, a direction determination unit 140, a position estimation unit 150, an output unit 160, a trajectory information acquisition unit 170, a trajectory information storage unit 180, and a trajectory information calculation unit 190.

[0049] <Measuring device 200> The measuring device 200 includes a light source section 210 , a diffractive optical element 220 , an arrangement section 230 , an irradiation section 240 , a tracking control section 250 , a light receiving section 260 , a detection section 270 , and a direction change section 280 .

[0050] <Light source section 210> The light source unit 210 generates a beam of light. The light source unit 210 irradiates the beam of light toward the diffractive optical element 220. The light source unit 210 is, for example, a laser.

[0051] <Diffractive optical element 220> The diffractive optical element 220 is an element that splits a light beam into multiple beams. The diffractive optical element 220 is the same as the diffractive optical element in the first embodiment.

[0052] <Arrangement section 230> The placement unit 230 places the diffractive optical element 220 selected from the plurality of diffractive optical elements 220 by the selection unit 110, which will be described in detail later, at a predetermined location on the optical path in a predetermined orientation.

[0053] The selected diffractive optical element 220 is arranged at a predetermined position on the optical path in a predetermined orientation, and splits the beam of light generated by the light source unit 210 into multiple beams. The multiple beams are irradiated by the irradiation unit 240 (described below) toward the range of error in the position of the object, including the predicted position of the object, so that the direction of the line indicating the center of the multiple beams faces the predicted position of the object. In this way, the multiple beams are irradiated so that the irradiation range of the multiple beams includes the range of error in the position of the object.

[0054] That is, the placement unit 230 places the selected diffractive optical element 220 at a predetermined location on the optical path in a predetermined orientation, so that the irradiation range of the multiple beams includes the range of error in the position of the object.

[0055] <Irradiation unit 240> The irradiation unit 240 irradiates a light beam generated by the light source unit 210, which is branched by a diffractive optical element 220 disposed in a predetermined orientation at a predetermined location on the optical path, into multiple beams. The direction in which the irradiation unit 240 irradiates the multiple beams is controlled by a tracking control unit 250, which will be described later. As will be described later, the tracking control unit 250 controls the direction in which the irradiation unit 240 irradiates the multiple beams so that the direction of a line indicating the center of the multiple beams faces the position of the object indicated by the information on the object's trajectory. The irradiation unit 240 may include a mirror and a gimbal that controls the direction of the mirror. In this case, the gimbal is controlled by the tracking control unit 250. The irradiation unit 240 may include an optical system such as a lens.

[0056] <Tracking control unit 250> The tracking control unit 250 controls the direction in which the irradiation unit 240 irradiates the multiple beams so that the direction of a line indicating the center of the multiple beams faces the position of the object indicated by the information about the object's trajectory. The tracking control unit 250 may read out information about the object's trajectory from a trajectory information storage unit 180 (described later) that stores the information about the object's trajectory. The tracking control unit 250 may start controlling the direction in which the irradiation unit 240 irradiates the multiple beams in response to, for example, an instruction from the operator of the object position estimation device 100 to start processing to estimate the position of the object.

[0057] <Light receiving section 260> The light receiving unit 260 causes light reflected from an object to be incident on the detection unit 270. The light receiving unit 260 causes the light reflected from the object that has been incident on the light receiving unit 260 to be incident on the detection unit 270. Specifically, when light from the object's position indicated by the object's trajectory information is incident on the light receiving unit 260, the light receiving unit 260 causes light from a range including the object's position indicated by the object's trajectory information to be incident on the light receiving unit 260 so that the incident light is directed toward the position determined as the position of the detection unit 270. The direction in which the light receiving unit 260 emits light is controlled by the tracking control unit 250. The light receiving unit 260 may include a mirror and a gimbal that controls the direction of the mirror. In this case, the gimbal is controlled by the tracking control unit 250. The light receiving unit 260 may share the mirror and the gimbal that controls the direction of the mirror with the irradiation unit 240. The light receiving unit 260 may include an optical system such as a lens.

[0058] <Direction change unit 280> The direction change unit 280 changes the direction in which a sensor (i.e., an optical sensor) of the detection unit 270 (described below) detects light within a range of directions including the direction toward the object's position (i.e., predicted position) in the trajectory information. This range of directions may be a predetermined range of directions. This range of directions may be a range of directions toward the range of error in the object's position in the object's trajectory information. Specifically, the direction change unit 280 may change the direction of the sensor of the detection unit 270 (described below) as described below. The direction change unit 280 may be realized, for example, using a gimbal that can control the direction of the sensor of the detection unit 270.

[0059] Furthermore, the direction change unit 280 may be configured to transmit information on the relative direction (also referred to as relative direction) of the sensor with respect to a reference direction when reflected light from an object is detected to the sensor direction identification unit 130. The reference direction is, for example, the direction of the object's position (i.e., predicted position) indicated by information on the object's trajectory. The direction change unit 280 may receive a notification of the detection of reflected light from an object from the detection unit 270. In this case, the direction change unit 280 may consider the timing at which the notification of the detection of reflected light from an object is received as the timing at which reflected light from the object is detected.

[0060] <Detection unit 270> The detection unit 270 detects the light reflected from the object. The detection unit 270 is realized by a sensor that detects light (i.e., an optical sensor).

[0061] The detection unit 270 may be implemented using a sensor that detects light in a predetermined direction. The sensor that detects light in a predetermined direction is, for example, a sensor that detects light from directions in a predetermined range including the predetermined direction. In this case, the direction of the sensor of the detection unit 270 is configured to be changeable by the direction change unit 280 described above. The direction change unit 280 then moves the direction of the sensor of the detection unit 270 so as to scan the range of error in the object position indicated by the object trajectory information. The detection unit 270 detects, for example, light of a predetermined intensity or greater as reflected light from an object. Note that the frequency of the light generated by the light source unit 210 is obtained in advance. The detection unit 270 may be implemented using a sensor that detects light of the frequency of the light generated by the light source unit 210. The detection unit 270 may detect, for example, light of a predetermined intensity or greater at the frequency of the light generated by the light source unit 210 as reflected light from an object. When the detection unit 270 detects light reflected from an object, it transmits the detection of light reflected from the object to the time measurement unit 120. In this case, the direction change unit 280 notifies the sensor direction identification unit 130 of information on the direction of the sensor when the detection unit 270 detected the light reflected from the object (i.e., the above-mentioned relative direction). The detection unit 270 may receive information on the relative direction of the sensor when it detected the light reflected from the object from the direction change unit 280. Then, the detection unit 270 may notify the sensor direction identification unit 130 of information on the relative direction of the sensor when it detected the light reflected from the object. The information on the relative direction of the sensor when it detected the light reflected from the object is information on the above-mentioned relative direction of the direction in which the sensor was facing when it detected the light reflected from the object.

[0062] The detection unit 270 may be implemented using a two-dimensional sensor (e.g., an image sensor). A bandpass filter that transmits light of the frequency of the light generated by the light source unit 210 may be attached to the image sensor of the detection unit 270. If a bandpass filter is attached to the image sensor, a color filter is not attached to the sensor of each pixel of the image sensor. The detection unit 270 may be configured so that light that has passed through the bandpass filter is incident on the image sensor of the detection unit 270. When the image sensor detects light of a predetermined intensity or greater, the detection unit 270 may detect the light as reflected light from an object. When the image sensor detects light of a frequency of the light generated by the light source unit 210 of a predetermined intensity or greater, the detection unit 270 may detect the light as reflected light from an object. Specifically, in this case, the detection unit 270 may determine that reflected light from an object has been detected when a pixel with a pixel value indicating light of a predetermined intensity or greater is present in the image captured by the image sensor. If the detection unit 270 determines that reflected light from an object has been detected, it transmits the captured image to the direction determination unit 140 as the detection result.

[0063] A single image captured by the image sensor of the detection unit 270 may not cover the entire range of error in the object's position indicated by the object's trajectory information. In such cases, the direction change unit 280 described above moves the image sensor so that the image sensor faces each of multiple directions in which multiple images covering the entire range of error in the object's position indicated by the object's trajectory information are captured. The image sensor of the detection unit 270 captures images in each of the multiple directions described above. The direction of the image sensor may be the direction of the image sensor's optical axis. The detection unit 270 may determine that reflected light from an object has been detected if any of the multiple images obtained by capturing contains a pixel with a pixel value indicating light intensity equal to or greater than a predetermined value. If the detection unit 270 determines that reflected light from an object has been detected, it transmits the captured image to the direction determination unit 140 as a detection result. The direction change unit 280 may notify the sensor direction identification unit 130 of information on the direction of the sensor (in this case, the image sensor) when the detection unit 270 detected reflected light from the object (i.e., information on the relative direction). The detection unit 270 may receive information about the relative direction of the sensor when it detects the light reflected from the object from the direction change unit 280. Then, the detection unit 270 may notify the sensor direction identification unit 130 of the information about the relative direction of the sensor when it detects the light reflected from the object.

[0064] <Trajectory information acquisition unit 170> The trajectory information acquisition unit 170 acquires information about an object's trajectory from a server that can communicate with the object position estimation device 100 and that stores information about the trajectory of an object. The trajectory information acquisition unit 170 may acquire information about the trajectories of various objects. The object's trajectory information acquired by the trajectory information acquisition unit 170 includes information about a predicted object position (i.e., a predicted object position) from a time point in the past to a time point in the future. The object's trajectory information acquired by the trajectory information acquisition unit 170 may further include a previously measured object position (hereinafter also referred to as the actual measured position of the object) and information about the time when the position was measured.

[0065] The trajectory information acquisition unit 170 may receive time information and information on the estimated position of the object at that time from the position estimation unit 150. The trajectory information acquisition unit 170 may regard the estimated position of the object at the time indicated by the time information received from the position estimation unit 150 as the actual measured position of the object at the time indicated by the time information.

[0066] Trajectory information acquisition unit 170 stores information on the trajectory of an object (also referred to as trajectory information), including information on the predicted position of the object and information on the actual position of the object, in trajectory information storage unit 180, which will be described later. The information on the predicted position of the object includes information on a combination of a time and the predicted position of the object at that time, for multiple combinations. The information on the actual position of the object includes information on a combination of a time and the actual position of the object at that time, for multiple combinations.

[0067] <Trajectory information calculation unit 190> Trajectory information calculation unit 190 calculates the above-mentioned range of error in the position of the object from information on the trajectory of the object (information on the predicted position of the object and information on the actual measured position of the object) stored in trajectory information storage unit 180. Trajectory information calculation unit 190 stores the calculated information on the range of error in the position of the object in trajectory information storage unit 180 as part of the information on the trajectory of the object.

[0068] <Trajectory information storage section 180> Trajectory information storage unit 180 contains information on the trajectory of an object. The information on the trajectory of an object stored in trajectory information storage unit 180 includes information on the predicted position of the object, information on the actual measured position of the object, and information on the range of error in the position of the object. When trajectory information storage unit 180 receives a request for information from a component of object position estimation device 100 or measuring device 200, it returns the information requested by the received request to the component that sent the request.

[0069] <Selection unit 110> The selection unit 110 is a diffractive optical element that splits a light beam into multiple beams, and selects a diffractive optical element that splits into multiple beams according to an error in the position of an object in the object's trajectory information. For example, the selection unit 110 selects a diffractive optical element with the smallest irradiation range, which is the range where the multiple beams are irradiated, from among diffractive optical elements whose irradiation range includes the range of the position error.

[0070] The selection unit 110 has the same function as the selection unit 11 in the first embodiment.

[0071] <Time measurement unit 120> The time measurement unit 120 measures the time from when the multiple beams are emitted until the reflected light from the object returns.

[0072] Specifically, the time measurement unit 120 acquires, from the measurement device 200 (for example, the light source unit 210), information on the time when the light source unit 210 starts generating a light beam. The time measurement unit 120 acquires, from the detection unit 270, information on the time when the detection unit 270 detects reflected light from an object. The time measurement unit 120 calculates the time from when the light source unit 210 starts generating a light beam to when the detection unit 270 detects reflected light from the object as the time from when the multiple beams are irradiated to when the reflected light from the object returns.

[0073] <Sensor direction identification unit 130> The sensor direction specifying unit 130 specifies the direction in which the sensor of the detecting unit 270 was facing when the reflected light from the object was detected.

[0074] The sensor direction identification unit 130 may acquire, from the detection unit 270, information about the relative direction in which the sensor of the detection unit 270 was facing when the light reflected from the object was detected. In this case, the detection unit 270 is configured to transmit, to the sensor direction identification unit 130, information about the relative direction in which the sensor of the detection unit 270 was facing when the light reflected from the object was detected. The sensor direction identification unit 130 may be configured to acquire, from the direction change unit 280, information about the relative direction in which the sensor of the detection unit 270 was facing when the light reflected from the object was detected. In this case, the direction change unit 280 is configured to transmit, to the sensor direction identification unit 130, information about the relative direction in which the sensor of the detection unit 270 was facing when the light reflected from the object was detected.

[0075] The reference direction is the direction from the position of the sensor of the detection unit 270 toward the position of the object (i.e., the predicted position of the object at the time the light beam is generated) indicated by the information on the object's trajectory. The sensor direction identification unit 130 identifies the direction in which the sensor is facing from the information on the reference direction and information on the relative direction of the sensor direction.

[0076] If the image sensor used in the detection unit 270 is configured to cover the range of error in the object's position, the direction changing unit 280 does not change the direction of the sensor. In this case, the direction of the sensor (i.e., the direction of the optical axis of the image sensor) is the direction toward the object's position indicated by the object's trajectory information (i.e., the predicted position of the object at the time the light beam is generated). The sensor direction identification unit 130 may identify the direction toward the object's position indicated by the object's trajectory information (i.e., the predicted position of the object at the time the light beam is generated) as the sensor's direction (i.e., the direction of the optical axis of the image sensor). In this case, the sensor direction identification unit 130 does not need to receive information about the relative direction of the direction the sensor was facing from the detection unit 270 and the direction changing unit 280. The image sensor covering the range of error in the object's position means that the image sensor can capture the entire range of error in the object's position in a single capture.

[0077] <Direction Determination Unit 140> The direction determining unit 140 determines the direction in which the reflected light is detected based on the result of the detection of the reflected light.

[0078] When the detection unit 270 is realized using a sensor that detects light in a predetermined direction, the result of the detection of reflected light is the direction of the sensor when the reflected light is detected. The direction of the sensor when the reflected light is detected is the direction in which the reflected light is detected. The direction determination unit 140 determines that the direction of the sensor when the reflected light is detected is the direction in which the reflected light is detected. The direction in which the reflected light is detected is the direction from the position of the sensor to the location where the object is located.

[0079] When the detection unit 270 is implemented using an image sensor that detects light in a predetermined direction, the result of the reflected light detection is an image captured by the image sensor (referred to as a captured image). The direction determination unit 140 detects pixels indicative of reflected light from an object from the captured image. For example, the direction determination unit 140 may detect a pixel having a pixel value that indicates the brightest peak among the brightness peaks of pixel values ​​in the captured image as a pixel indicative of reflected light from an object. The direction determination unit 140 determines that the direction from the camera center of the image sensor to the object indicated by the pixel detected as a pixel indicative of reflected light from an object is the direction in which the reflected light was detected (i.e., the direction from the sensor to the object's position). The direction determination unit 140 uses information from the image sensor and camera parameters of the image sensor's optical system to calculate the relative direction of the object detected as a pixel indicative of reflected light from an object (i.e., the direction in which the reflected light was detected; in other words, the direction from the sensor to the object's position) with the direction of the image sensor's optical axis as the reference direction.

[0080] As mentioned above, the reference direction, which is the sensor direction (i.e., the direction of the optical axis of the image sensor), is the direction that faces the object position indicated by the object trajectory information (i.e., the predicted position of the object at the time the light beam is generated).

[0081] The direction determination unit 140 calculates the direction in which the reflected light was detected, i.e., the direction to the position of the object (in other words, the position where the object actually exists), from the information on the reference direction and the relative direction of the direction in which the reflected light was detected based on the reference direction.

[0082] <Position estimation unit 150> The position estimation unit 150 estimates the position of an object from information about the light reflected by the object. Specifically, the position estimation unit 150 estimates the position of the object from the direction in which at least one of the beams is reflected, the length of time from when the beams are emitted until the reflected light is detected, and the position of the diffractive optical element. The position estimation unit 150 may determine that the time at which the beams are generated is the time at which the beams are emitted. The position estimation unit 150 calculates the distance the light travels during that time from the length of time from when the beams are emitted until the reflected light is detected. The position estimation unit 150 considers the calculated distance to be twice the distance between the sensor and the object. The position estimation unit 150 determines that the distance between the sensor and the object is half the calculated distance. The position estimation unit 150 estimates the point from the sensor in the direction in which the reflected light is detected that is half the calculated distance as the position of the object.

[0083] <Output unit 160> The output unit 160 outputs information about the estimated object position. The output unit 160 may output the information about the estimated object position to an output device such as a display. The output unit 160 may output the information about the estimated object position to another information processing device such as a terminal device or a server.

[0084] <Operation> Next, the operation of the second embodiment of the present disclosure will be described in detail with reference to the drawings.

[0085] 4 and 5 are flowcharts illustrating an example of the operation of the object position estimation system according to the present disclosure.

[0086] The operation of the object position estimation system according to the second embodiment of the present disclosure will be described in detail below with reference to FIGS.

[0087] 4 and 5, first, the selection unit 110 identifies the object's position and the position error range from information on the object's trajectory (step S101). The object's position identified here is the predicted position of the object. Next, the selection unit 110 selects a diffractive optical element whose irradiation range of the branched beams corresponds to the range of the object's position (step S102).

[0088] Next, the arrangement unit 230 arranges the selected diffractive optical element 220 (step S103). The arrangement unit 230 arranges the selected diffractive optical element 220 at a predetermined position in a predetermined orientation. Next, the tracking control unit 250 sets the direction of irradiation so that the centers of the multiple beams obtained by splitting the light beam by the selected diffractive optical element are directed toward the position of the object (step S104). Next, the irradiation unit 240 irradiates the multiple beams obtained by splitting the light beam by the selected diffractive optical element toward the position of the object (step S105).

[0089] Next, in step S106 of FIG. 5, the detection unit 270 detects the light reflected from the object (step S106).

[0090] Next, the time measurement unit 120 measures the time from when the light beam is emitted until the reflected light is detected (step S107). Next, the sensor direction identification unit 130 identifies the direction of the sensor when the reflected light is detected (step S108). Next, the direction determination unit 140 determines the direction to the object using the direction of the sensor (step S109). The direction in which the reflected light is detected is the direction to the object. The direction to the object is the direction from the sensor to the object. Then, the position estimation unit 150 estimates the distance from the sensor to the object (step S110). As described above, the position estimation unit 150 determines the distance from the sensor to the object as half the distance light travels (e.g., the distance light travels in a vacuum space) from when the light beam is emitted until the reflected light is detected. The position estimation unit 150 estimates the position of the object from the direction to the object and the distance to the object (step S111). The output unit 160 outputs the position of the object (step S112).

[0091] FIG. 6 is a flowchart illustrating an example of an operation of the object position estimation system according to the present disclosure to calculate the magnitude of an error in the position of an object.

[0092] Hereinafter, an operation of calculating the magnitude of an error in the position of an object in the object position estimation system according to the second embodiment of the present disclosure will be described in detail with reference to FIG.

[0093] In the example shown in FIG. 6, trajectory information acquisition unit 170 acquires information about the trajectory of an object (step S121). Trajectory information calculation unit 190 calculates the difference between the object position indicated by the object trajectory and the object's actually measured position (step S122). As described above, the object position indicated by the object trajectory is the predicted position of the object. Trajectory information calculation unit 190 calculates a value indicating the magnitude of the error in the object position indicated by the object trajectory (step S123). The value indicating the magnitude of the error in the object position indicated by the object trajectory is, for example, the variance of the difference between the predicted object position indicated by the object trajectory and the object's actually measured position.

[0094] <Effects> The present embodiment described above has the same effects as the first embodiment, for the same reasons as those for the effects of the first embodiment.

[0095] <First Modification of the Second Embodiment> The diffractive optical element 220 may be a device that can change the diffraction pattern (i.e., the arrangement of multiple beams) using a signal. In this case, the selection unit 110 selects, from the diffraction patterns possible for the diffractive optical element 220, a diffraction pattern that splits into multiple beams according to the position error of the object in the object's trajectory information. For example, the selection unit 110 selects the diffraction pattern with the smallest irradiation range among the diffraction patterns in which the irradiation range, which is the range where the multiple beams are irradiated, includes the range of the position error.

[0096] For example, the arrangement unit 230 controls the diffractive optical element 220 so that the diffraction pattern of the diffractive optical element 220 becomes the selected diffraction pattern.

[0097] <Second Modification of the Second Embodiment> The arrangement unit 230 may be configured to change the orientation of the diffractive optical element 220 arranged at a predetermined location. In this case, the orientation of the diffractive optical element 220 refers to the angle of rotation of the diffractive optical element 220 when the diffractive optical element 220 is rotated around a straight line in the direction of the light beam incident from the light source unit 210 as the rotation axis. The angle of rotation of the diffractive optical element 220 may be represented by the angle between a reference line set in a plane perpendicular to the direction of the light beam incident from the light source unit 210 and a reference line set on the diffractive optical element 220. These reference lines may be set in advance so as to coincide with each other when the diffractive optical element 220 is not rotated.

[0098] The selection unit 110 identifies, from among the multiple diffractive optical elements, a diffractive optical element 220 whose irradiation range may include an error range when rotated. The selection unit 110 selects, from the identified diffractive optical elements 220, a diffractive optical element 220 whose irradiation range includes the error range. The selection unit 110 identifies a rotation angle of the selected diffractive optical element 220 at which the irradiation range of the selected diffractive optical element 220 includes the error range. The selection unit 110 may identify the smallest rotation angle among the rotation angles of the selected diffractive optical element 220 at which the irradiation range of the selected diffractive optical element 220 includes the error range. The selection unit 110 may identify the rotation angle of the selected diffractive optical element 220 at which the shortest distance between the outline of the above-mentioned irradiation pattern and the outline of the above-mentioned error pattern of the selected diffractive optical element 220 is the largest.

[0099] The placement unit 230 places the selected diffractive optical element at a predetermined location so that the angle of rotation becomes the specified angle of rotation.

[0100] <Third Modification of the Second Embodiment> If the plurality of diffractive optical elements does not include a diffractive optical element 220 whose irradiation range may include an error range, the selection unit 110 may select the diffractive optical element 220 having the smallest difference between the irradiation range and the error range. The diffractive optical element 220 having the smallest difference between the irradiation range and the error range is, for example, the diffractive optical element 220 having the smallest sum of the area of ​​the portion of the irradiation pattern not included in the error pattern and the area of ​​the portion of the error pattern not included in the irradiation pattern when the above-mentioned irradiation pattern and error pattern are superimposed so that the centers of the irradiation pattern and the error pattern coincide. The center of the irradiation pattern is a point corresponding to the straight line indicating the centers of the multiple beams. The center of the error pattern is a point corresponding to the predicted position of the object.

[0101] The irradiation unit 240 may change the directions of the multiple beams in multiple directions. The irradiation unit 240 may determine the multiple directions such that the error range is included in at least one of the irradiation ranges of the multiple beams irradiated in the multiple directions.

[0102] Furthermore, the selection unit 110 may calculate the smallest magnification ratio of the illumination range at which the magnified illumination range of the selected diffractive optical element 220 includes the error range.

[0103] Then, the irradiation unit 240 may adjust the optical system used to irradiate the multiple beams so that the expansion ratio of the irradiation range becomes the calculated expansion ratio. In this case, the irradiation unit 240 does not need to change the direction of the multiple beams in multiple directions.

[0104] <Other embodiments> The object position estimation system according to the present disclosure can be realized by a computer including a memory into which a program read from a storage medium is loaded and a processor that executes the program. The object position estimation system according to the present disclosure can also be realized by dedicated hardware. The object position estimation system according to the present disclosure can also be realized by a combination of the computer and dedicated hardware.

[0105] FIG. 7 is a diagram illustrating an example of a hardware configuration of a computer 1000 capable of realizing the object position estimation system according to the present disclosure. In the example illustrated in FIG. 7, the computer 1000 includes a processor 1001, a memory 1002, a storage device 1003, and an I / O (Input / Output) interface 1004. The computer 1000 can also access a storage medium 1005. The memory 1002 and the storage device 1003 are, for example, storage devices such as a RAM (Random Access Memory) or a hard disk. The storage medium 1005 is, for example, a storage device such as a RAM or a hard disk, a ROM (Read Only Memory), or a portable storage medium. The storage device 1003 may be the storage medium 1005. The processor 1001 can read and write data and programs from and to the memory 1002 and the storage device 1003. The processor 1001 can access, for example, another server via the I / O interface 1004. The processor 1001 can also access the storage medium 1005. The storage medium 1005 stores a program that causes the computer 1000 to operate as an object position estimation system according to the present disclosure.

[0106] The processor 1001 loads a program stored in the storage medium 1005, which causes the computer 1000 to operate as an object position estimation system according to the present disclosure, into the memory 1002. The processor 1001 then executes the program loaded into the memory 1002, causing the computer 1000 to operate as the object position estimation system according to the present disclosure.

[0107] The selection unit 11, the irradiation unit 12, and the position estimation unit 13 can be realized, for example, by a processor 1001 that executes a program loaded in a memory 1002. The selection unit 110, the time measurement unit 120, the sensor direction identification unit 130, the direction determination unit 140, the position estimation unit 150, the output unit 160, the trajectory information acquisition unit 170, and the trajectory information calculation unit 190 can be realized, for example, by the processor 1001 that executes a program loaded in the memory 1002. The placement unit 230, the irradiation unit 240, the tracking control unit 250, the detection unit 270, and the direction change unit 280 can be realized, for example, by the processor 1001 that executes a program loaded in the memory 1002.

[0108] The orbit information storage unit 180 can be realized by a memory 1002 included in the computer 1000 or a storage device 1003 such as a hard disk drive.

[0109] A part or all of the selection unit 11, the irradiation unit 12, and the position estimation unit 13 can be realized by a dedicated circuit that realizes the function of each unit. A part or all of the selection unit 110, the time measurement unit 120, the sensor direction identification unit 130, the direction determination unit 140, the position estimation unit 150, the output unit 160, the trajectory information acquisition unit 170, the trajectory information storage unit 180, and the trajectory information calculation unit 190 can be realized by a dedicated circuit that realizes the function of each unit. A part or all of the placement unit 230, the irradiation unit 240, the tracking control unit 250, the detection unit 270, and the direction change unit 280 can be realized by a dedicated circuit that realizes the function of each unit.

[0110] Furthermore, some or all of the above-described embodiments can be described as, but are not limited to, the following supplementary notes.

[0111] (Appendix 1) a diffractive optical element that splits a light beam into a plurality of beams, and a selection means that selects the diffractive optical element that splits the light beam into the plurality of beams according to an error in the position of the object in the information on the trajectory of the object; an irradiation means for irradiating the plurality of beams obtained by splitting a light beam from a light source by the diffractive optical element so that the center of the range of the plurality of beams faces the position of the object; a position estimation means for estimating a position of the object from information on the light reflected by the object; An object position estimation system comprising:

[0112] (Appendix 2) The selecting means selects the diffractive optical element having the smallest irradiation range, which is the range where the plurality of beams are irradiated, from among the diffractive optical elements whose irradiation range includes the range of the position error. 2. The object localization system of claim 1.

[0113] (Appendix 3) The selection means selects the diffractive optical element having the smallest irradiation range among the diffractive optical elements whose irradiation range includes the range of error of the position represented by a spheroid in which the range of error in the traveling direction of the object on the trajectory is the radius of the rotation axis and the range of error in the traveling direction is the radius of an axis other than the rotation axis. 3. An object localization system as described in appendix 2.

[0114] (Appendix 4) a positioning means for positioning the selected diffractive optical element so that the irradiation range of the plurality of beams split by the selected diffractive optical element includes the range of positional error; 4. The object position estimation system according to claim 2 or 3, further comprising:

[0115] (Appendix 5) a detection means for detecting the reflected light of at least any of the plurality of beams; a direction determining means for determining a direction in which the reflected light is detected based on the result of the detection of the reflected light; a time measurement means for measuring the time from when the light beam is irradiated to when the reflected light is detected; Equipped with The position estimation means estimates the position of the object from the direction in which the reflected light of at least any of the plurality of beams is detected, the length of time from when the plurality of beams are irradiated until when the reflected light is detected, and the position of the diffractive optical element. 3. An object position estimation system according to claim 1 or 2.

[0116] (Appendix 6) a direction changer that changes the direction in which the optical sensor detects light within a range of directions including a direction facing the position of the object in the trajectory information; a sensor direction specifying means for specifying the direction of the optical sensor when the reflected light is detected by the optical sensor; Equipped with The direction determining means determines the direction in which the reflected light is detected using the identified direction of the optical sensor. 6. An object localization system as claimed in claim 5.

[0117] (Appendix 7) the detecting means detects the reflected light by an image sensor; The direction determination means determines the direction in which the reflected light is detected from the position of the reflected light in the captured image captured by the image sensor and the direction of the optical axis of the image sensor when the captured image was captured. 6. An object localization system as claimed in claim 5.

[0118] (Appendix 8) a direction changing means for changing the direction of the optical axis of the image sensor within a range of directions including a direction facing the position of the object in the trajectory information; a sensor direction specifying means for specifying the direction of the optical axis when the reflected light is detected by the image sensor; Equipped with The direction determining means determines the direction in which the reflected light is detected from the position of the reflected light in the captured image and the direction of the specified optical axis. 8. The object localization system of claim 7.

[0119] (Appendix 9) a diffractive optical element that splits a light beam into a plurality of beams, the diffractive optical element being selected to split the light beam into the plurality of beams according to an error in the position of the object in the information on the trajectory of the object; irradiating the plurality of beams obtained by splitting a beam of light from a light source by the diffractive optical element so that the center of the range of the plurality of beams faces the position of the object; estimating the position of the object from information on the light reflected by the object; Object position estimation method.

[0120] (Appendix 10) Among the diffractive optical elements whose irradiation range, which is the range irradiated with the plurality of beams, includes the range of the position error, the diffractive optical element whose irradiation range is the smallest is selected. 10. The object position estimation method according to claim 9.

[0121] (Appendix 11) The range of error in the traveling direction of the object on the trajectory is the radius of the rotation axis, and the range of error in the traveling direction is the radius of an axis other than the rotation axis. Among the diffractive optical elements whose irradiation range includes the range of error in the position represented by a spheroid, the diffractive optical element whose irradiation range is the smallest is selected. 11. The object position estimation method according to claim 10.

[0122] (Appendix 12) The selected diffractive optical element is arranged so that the irradiation range of the plurality of beams split by the selected diffractive optical element includes the range of positional error. 12. The object position estimation method according to claim 10 or 11.

[0123] (Appendix 13) detecting the reflected light of at least one of the plurality of beams; determining a direction in which the reflected light is detected based on the result of the detection of the reflected light; measuring the time from when the light beam is irradiated to when the reflected light is detected; The position of the object is estimated from the direction in which the reflected light of at least one of the plurality of beams is detected, the length of time from when the plurality of beams are irradiated until when the reflected light is detected, and the position of the diffractive optical element. 11. The object position estimation method according to claim 9 or 10.

[0124] (Appendix 14) changing a direction in which the optical sensor detects light within a range of directions including a direction facing the position of the object in the trajectory information; Identifying the direction of the optical sensor when the reflected light is detected by the optical sensor; Using the identified light sensor orientation, determine the direction from which the reflected light was detected. 14. The object position estimation method according to claim 13.

[0125] (Appendix 15) detecting the reflected light with an image sensor; The direction in which the reflected light is detected is determined based on the position of the reflected light in the captured image captured by the image sensor and the direction of the optical axis of the image sensor when the captured image was captured. 14. The object position estimation method according to claim 13.

[0126] (Appendix 16) changing the direction of the optical axis of the image sensor in a range of directions including a direction toward the position of the object in the trajectory information; Identifying the direction of the optical axis when the reflected light is detected by the image sensor; The direction in which the reflected light is detected is determined based on the position of the reflected light in the captured image and the direction of the identified optical axis. 16. The object position estimation method according to claim 15.

[0127] (Appendix 17) a selection process for selecting a diffractive optical element that splits a light beam into a plurality of beams, the diffractive optical element being configured to split the light beam into the plurality of beams according to an error in the position of the object in information on the trajectory of the object; an irradiation process of irradiating the plurality of beams obtained by splitting the light beam from the light source by the diffractive optical element so that the center of the range of the plurality of beams faces the position of the object; a position estimation process for estimating a position of the object from information on the light reflected by the object; A program that causes a computer to execute the following.

[0128] (Appendix 18) The selection process selects the diffractive optical element having the smallest irradiation range, which is the range where the plurality of beams are irradiated, from among the diffractive optical elements whose irradiation range includes the range of the position error. 17. The program described in Appendix 17.

[0129] (Appendix 19) The selection process selects the diffractive optical element having the smallest irradiation range among the diffractive optical elements whose irradiation range includes a range of error in the traveling direction of the object on the trajectory, the range of error in the position being represented by a spheroid whose irradiation range is the radius of a rotation axis and whose error range in the traveling direction is the radius of an axis other than the rotation axis. 18. The program described in Appendix 18.

[0130] (Appendix 20) an arrangement process of arranging the selected diffractive optical element so that the irradiation range of the plurality of beams split by the selected diffractive optical element includes the range of positional error; 20. The program according to claim 18 or 19, further causing a computer to execute the above steps.

[0131] (Appendix 21) a detection process for detecting the reflected light of at least any of the plurality of beams; a direction determination process for determining a direction in which the reflected light is detected based on the result of the detection of the reflected light; a time measurement process for measuring the time from when the light beam is irradiated to when the reflected light is detected; on the computer, The position estimation process estimates the position of the object from the direction in which the reflected light of at least one of the plurality of beams is detected, the length of time from when the plurality of beams are irradiated until when the reflected light is detected, and the position of the diffractive optical element. 19. The program according to claim 17 or 18.

[0132] (Appendix 22) a direction change process for changing the direction in which the optical sensor detects light within a range of directions including a direction facing the position of the object in the trajectory information; a sensor direction identification process for identifying a direction of the optical sensor when the reflected light is detected by the optical sensor; on the computer, The direction determination process determines the direction in which the reflected light is detected using the identified direction of the optical sensor. 21. The program described in Appendix 21.

[0133] (Appendix 23) the detection process includes detecting the reflected light using an image sensor; The direction determination process determines the direction in which the reflected light is detected from the position of the reflected light in the captured image captured by the image sensor and the direction of the optical axis of the image sensor when the captured image was captured. 21. The program described in Appendix 21.

[0134] (Appendix 24) a direction change process for changing the direction of the optical axis of the image sensor within a range of directions including a direction facing the position of the object in the trajectory information; a sensor direction determination process for determining the direction of the optical axis when the reflected light is detected by the image sensor; on the computer, The direction determination process determines the direction in which the reflected light is detected based on the position of the reflected light in the captured image and the direction of the identified optical axis. 23. The program described in Appendix 23.

[0135] Although the present disclosure has been described above with reference to the embodiments, the present disclosure is not limited to the above embodiments. Various modifications that can be understood by those skilled in the art can be made to the configuration and details of the present disclosure within the scope of the present disclosure. [Explanation of symbols]

[0136] 1. Object position estimation system 10 Object position estimation system 11 Selection section 12 Irradiation unit 13 Position estimation part 100 Object position estimation device 110 Selection Section 120 Time measurement unit 130 Sensor direction identification unit 140 Direction determination unit 150 Position estimation part 160 Output section 170 Orbit information acquisition section 180 Orbit information storage unit 190 Orbit information calculation section 200 Measuring Equipment 210 Light source section 220 Diffractive Optical Elements 230 Placement section 240 Irradiation unit 250 Tracking control unit 260 Light receiving section 270 Detector 280 Direction change section 1000 computers 1001 processor 1002 memory 1003 Storage device 1004 I / O interface 1005 Storage medium

Claims

1. a diffractive optical element that splits a light beam into a plurality of beams, and a selection means that selects the diffractive optical element that splits the light beam into the plurality of beams according to an error in the position of the object in the information on the trajectory of the object; an irradiation means for irradiating the plurality of beams obtained by splitting a light beam from a light source by the diffractive optical element so that the center of the range of the plurality of beams faces the position of the object; a position estimation means for estimating a position of the object from information on the light reflected by the object; An object position estimation system comprising:

2. The selecting means selects the diffractive optical element having the smallest irradiation range, which is the range where the plurality of beams are irradiated, from among the diffractive optical elements whose irradiation range includes the range of the position error. The object position estimation system according to claim 1 .

3. The selection means selects the diffractive optical element having the smallest irradiation range among the diffractive optical elements whose irradiation range includes the range of error of the position represented by a spheroid in which the range of error in the traveling direction of the object on the trajectory is the radius of the rotation axis and the range of error in the traveling direction is the radius of an axis other than the rotation axis. The object position estimation system according to claim 2 .

4. a positioning means for positioning the selected diffractive optical element so that the irradiation range of the plurality of beams split by the selected diffractive optical element includes the range of positional error; The object position estimation system according to claim 2 or 3, further comprising:

5. a detection means for detecting the reflected light of at least any of the plurality of beams; a direction determining means for determining a direction in which the reflected light is detected based on the result of the detection of the reflected light; a time measurement means for measuring the time from when the light beam is irradiated to when the reflected light is detected; Equipped with The position estimation means estimates the position of the object from the direction in which the reflected light of at least any of the plurality of beams is detected, the length of time from when the plurality of beams are irradiated until when the reflected light is detected, and the position of the diffractive optical element. The object position estimation system according to claim 1 or 2.

6. a direction changer that changes the direction in which the optical sensor detects light within a range of directions including a direction facing the position of the object in the trajectory information; a sensor direction specifying means for specifying the direction of the optical sensor when the reflected light is detected by the optical sensor; Equipped with The direction determining means determines the direction in which the reflected light is detected using the identified direction of the optical sensor. The object position estimation system according to claim 5 .

7. the detecting means detects the reflected light by an image sensor; The direction determination means determines the direction in which the reflected light is detected from the position of the reflected light in the captured image captured by the image sensor and the direction of the optical axis of the image sensor when the captured image was captured. The object position estimation system according to claim 5 .

8. a direction changing means for changing the direction of the optical axis of the image sensor within a range of directions including a direction facing the position of the object in the trajectory information; a sensor direction specifying means for specifying the direction of the optical axis when the reflected light is detected by the image sensor; Equipped with The direction determining means determines the direction in which the reflected light is detected from the position of the reflected light in the captured image and the direction of the specified optical axis. The object position estimation system according to claim 7 .

9. a diffractive optical element that splits a light beam into a plurality of beams, the diffractive optical element being selected to split the light beam into the plurality of beams according to an error in the position of the object in the information on the trajectory of the object; irradiating the plurality of beams obtained by splitting a beam of light from a light source by the diffractive optical element so that the center of the range of the plurality of beams faces the position of the object; estimating the position of the object from information on the light reflected by the object; Object position estimation method.

10. a selection process for selecting a diffractive optical element that splits a light beam into a plurality of beams, the diffractive optical element being configured to split the light beam into the plurality of beams according to an error in the position of the object in information on the trajectory of the object; an irradiation process of irradiating the plurality of beams obtained by splitting the light beam from the light source by the diffractive optical element so that the center of the range of the plurality of beams faces the position of the object; a position estimation process for estimating a position of the object from information on the light reflected by the object; A program that causes a computer to execute the following.

Images